CN109343539A - Motion control method, device, robot and storage medium - Google Patents
Motion control method, device, robot and storage medium Download PDFInfo
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- CN109343539A CN109343539A CN201811424426.4A CN201811424426A CN109343539A CN 109343539 A CN109343539 A CN 109343539A CN 201811424426 A CN201811424426 A CN 201811424426A CN 109343539 A CN109343539 A CN 109343539A
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- revolver
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- right wheel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a kind of motion control methods, device, robot and storage medium, this method comprises: determining the movement velocity deviation of revolver and right wheel within the current one time when target device moves, obtain the yaw rate on the target device in the gyroscope current one time, actual speed of the revolver within the current one time is determined according to the movement velocity deviation and the yaw rate, the current motion state of the target device is controlled according to the actual speed, through the above technical solution, it solves in target device traveling process caused by simply using left and right turns encoder or gyroscope in the prior art, it cannot keep the problem of straight line is advanced, it ensure that target device can still move along a straight line under slipping state, error is reduced simultaneously.
Description
Technical field
The present embodiments relate to technical field of robot control more particularly to a kind of motion control method, device, machines
People and storage medium.
Background technique
With the development of technology, robot has been more and more widely used, especially the linear motion application of robot
In all trades and professions, but robot is in practical walking process, and left and right wheels are inclined to etc. due to the otherness and robot weight of motor
Problem makes robot deviate rectilinear orbit, the more walks the more inclined.
It moves along a straight line to control robot, the prior art mainly uses gyroscope and odometer to determine wait walk
Specific current location information during the initial position message and robot ambulation of straight line, then by initial position message and currently
The vertical range of straight line to be walked is deviateed in the difference of angular speed in location information and current location, to judge the walking of robot
Straight line to be walked whether is deviated from, if there is deviation, then by adjusting the speed of the left and right wheels of robot, returns to robot
Wait walk on straight line.But there is drift and scale factor error in gyroscope, when the traveling with gyroscope previous moment robot
Angular speed is come the mistake that generates before when inferring the present traveling angular speed of robot, will introducing in current robot driving direction
Difference, forms cumulative errors, and the error of angular speed can also become increasing with the accumulation of time.
In order to overcome this defect, there are also the prior arts to be moved along a straight line using encoder control robot, but
When the left and right wheels of robot have skidded or dally, encoder can not be detected, and cause robot that cannot continue straight line
Movement.
Summary of the invention
The embodiment of the present invention provides a kind of motion control method, device, robot and storage medium, to guarantee that robot goes out
When now skidding or dally, still it can move along a straight line.
In a first aspect, the embodiment of the present invention provides a kind of motion control method, comprising:
Determine the movement velocity deviation of revolver and right wheel within the current one time when target device moves；
Obtain the yaw rate on the target device in the gyroscope current one time；
Reality of the revolver within the current one time is determined according to the movement velocity deviation and the yaw rate
Border speed；
The current motion state of the target device is controlled according to the actual speed.
Second aspect, the embodiment of the present invention also provide a kind of motion control device, which includes:
First determining module, the movement of revolver and right wheel is fast within the current one time when for determining target device movement
Spend deviation；
Module is obtained, for obtaining the yaw rate on the target device in the gyroscope current one time；
Second determining module, for determining that the revolver is being worked as according to the movement velocity deviation and the yaw rate
Actual speed in the preceding unit time；
Control module, for controlling the current motion state of the target device according to the actual speed.
The third aspect, the embodiment of the present invention also provide a kind of robot, comprising: motor, gyroscope, revolver, right wheel, revolver
Encoder and right wheel encoder, further includes:
One or more controllers；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of controllers, so that one or more of controls
Device realizes motion control method as described in relation to the first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of storage medium, are stored thereon with computer program, and feature exists
In the motion control method of realization as described in relation to the first aspect when the program is executed by a controller.
The embodiment of the present invention provides a kind of motion control method, device, robot and storage medium, by determining that target is set
When received shipment is dynamic within the current one time revolver and right wheel movement velocity deviation, it is current to obtain gyroscope on the target device
Yaw rate in unit time determines the revolver current according to the movement velocity deviation and the yaw rate
Actual speed in unit time controls the current motion state of the target device according to the actual speed, solves existing
Have in target device traveling process caused by simply using left and right turns encoder or gyroscope in technology, cannot keep straight line
The problem of traveling, ensure that target device can still move along a straight line under slipping state, while reduce error.
Detailed description of the invention
Fig. 1 is the flow chart for the motion control method that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of motion control method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structure chart for motion control device that the embodiment of the present invention three provides；
Fig. 4 is a kind of structure chart for robot that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart for the motion control method that the embodiment of the present invention one provides, and the present embodiment is applicable to pass through a left side
The equipment that wheel and right wheel are moved, this method can be executed by motion control device, which is integrated in robot, tool
Body, this method comprises the following steps:
S110, the movement velocity deviation for determining revolver and right wheel within the current one time when target device moves.
Specifically, target device can be with revolver and right wheel, can be controlled by the speed of control revolver or right wheel
The equipment for making its motion state, such as robot, in embodiment by taking target device is robot as an example.Unit time can basis
Actual needs setting, such as can be set to 5ms.Movement velocity deviation is the speed of revolver and right wheel within the current one time
The deviation of degree.
Wherein, it obtains the speed of revolver and right wheel and determines the movement of revolver and right wheel according to the speed of revolver and right wheel
The mode of velocity deviation can be set according to actual needs, for example, revolver can be respectively set in the revolver and right wheel of robot
Encoder and right wheel encoder, as robot motion, revolver encoder and right wheel encoder generate pulse signal, controller root
The right pulse signal that the left pulse signal and right wheel encoder sent according to the revolver encoder obtained in the unit real time is sent,
It can determine the speed of revolver and right wheel, and then determine the movement velocity deviation of revolver and right wheel.It should be noted that in determination
Before the movement velocity deviation of revolver and right wheel, controller needs first to receive movement instruction, then control robot motor into
Row movement, wherein movement instruction can be sent by intelligent terminals such as mobile phone or computers.It is of course also possible to respectively in revolver and
The sensor that can measure displacement is arranged in right wheel, with the displacement that revolver in cooling water of units of measurement time and right wheel are separately operable, controller
It is the speed that can determine revolver and right wheel according to displacement and time, and then determines the movement velocity deviation of revolver and right wheel.
Yaw rate on S120, the acquisition target device in the gyroscope current one time.
Gyroscope is a kind of for measuring the device of angular speed, and the movement of robot can be determined according to the angular speed of measurement
State.Used in the examples is a kind of three-axis gyroscope, can with robot measurement three-dimensional space entire motion, such as
The gyroscope of MPU6050 model.Yaw rate is the angular speed that robot moves generation to the left or to the right, can be by gyroscope
Directly measure.It should be noted that gyroscope still can be with the yaw angle of robot measurement when robot is in slipping state
Speed, i.e. gyroscope are not influenced by skidding, wherein skidding can be understood as dallying, left when revolver is in slipping state
The speed of wheel remains unchanged.
S130, determine the revolver within the current one time according to the movement velocity deviation and the yaw rate
Actual speed.
When the wheel of robot has skidded state, encoder can not be detected, if robot is in normal
Operation, directly can detect whether robot deviates according to revolver encoder and right wheel encoder, but work as robot
When having skidded state, since encoder can not detect, robot is caused to be easy to appear offset during advance.It is understood that
Although gyroscope can measure angular speed, there is drift, will increase the measurement error of angular speed.
For this purpose, the present embodiment determines the reality of revolver according to the movement velocity deviation and yaw rate of revolver and right wheel
Border speed to improve measurement accuracy, while being avoided and individually using movement velocity deviation or individually caused using yaw rate
Path deviations problem.It should be noted that gyroscope can detect robot right avertence if right wheel is skidded, revolver is reduced
Speed, if left wheel slip, gyroscope can detect robot left avertence, increase revolver speed.
Specifically, determining that the mode of the actual speed of revolver can be according to reality according to movement velocity deviation and yaw rate
Border needs to be arranged, such as can be calculated according to the rule of setting movement velocity deviation and yaw rate, then will meter
Calculate the actual speed that result is determined as revolver, wherein the rule of setting can be determining operation rule, i.e., movement velocity is inclined
The operation rule that difference and yaw rate import this determination can determine the actual speed of revolver, be also possible to adaptively adjust
Operation rule, that is, need adaptively to be adjusted according to the motion state of robot, for example, can for movement velocity deviation and
Different weights is arranged in yaw rate, to determine the actual speed in the revolver current one time according to weight, for example, initially
State machine people operates normally, and the weight for distributing to yaw rate is zero, in driving process, when having skidded, distributes to partially
The weight of boat angular speed increases, wherein distribute to movement velocity deviation weight is with the sum of the weight for distributing to yaw rate
1.It is of course also possible to determine the actual speed of right wheel, the motion state of robot is controlled according to the actual speed of revolver or right wheel,
To guarantee that robot moves along a straight line.
S140, the current motion state that the target device is controlled according to the actual speed.
After determining the actual speed of revolver, controller can control the movement of revolver according to the actual speed, in turn
Control robot motion state, make its keep linear motion, likewise, can also after determining the actual speed of right wheel,
The movement of right wheel is controlled, according to the actual speed of oil tanker to guarantee that robot moves along a straight line.
The embodiment of the present invention one provides a kind of motion control method, when by determining target device movement in current one
The movement velocity deviation of interior revolver and right wheel obtains the yaw angle speed on the target device in the gyroscope current one time
Degree, determines practical speed of the revolver within the current one time according to the movement velocity deviation and the yaw rate
Degree, the current motion state of the target device is controlled according to the actual speed, solves and simply uses in the prior art
In target device traveling process caused by left and right turns encoder or gyroscope, it cannot keep the problem of straight line is advanced, ensure that
Target device can still move along a straight line under slipping state, while reduce error.
Embodiment two
Fig. 2 is a kind of flow chart of motion control method provided by Embodiment 2 of the present invention, on the basis of above-described embodiment
On optimize, specifically, this method comprises the following steps:
S210, the movement velocity deviation for determining revolver and right wheel within the current one time when target device moves.
In order to further clarify the determination process of movement velocity deviation, S210 is embodied as:
S2101, in target device movement, acquire a left side for revolver encoder on the target device in the current one time
The right pulse signal of pulse signal and right wheel encoder.
Specifically, encoder is a kind of equipment that displacement is converted to electric signal.In practical application, the setting of revolver encoder
In on revolver, right wheel encoder is set in right wheel, as robot motion, revolver encoder and right wheel encoder basis respectively
The rotation of revolver and right wheel generates a certain number of pulse signals, and is sent to controller.In order to reduce velocity error, embodiment
Middle setting revolver coding is identical with right wheel encoder.
S2102, according to the left pulse signal and right pulse signal, calculate separately the revolver and right wheel in current one
Movement velocity in time.
Specifically, revolver rotates a circle, revolver encoder generates a certain number of pulse signals, likewise, right wheel rotates
One week, right wheel encoder also generated the pulse signal of identical quantity, revolver and right wheel rotate a circle generation displacement be it is fixed,
Be the distance that can determine revolver and run in the right wheel unit time according to the number of the pulse signal of acquisition, according to distance and when
Between can determine the movement velocity of revolver and right wheel.For example, revolver and right wheel, which rotate a circle, generates M pulse signal, revolver or
Right wheel rotate a circle generation displacement be S, it is assumed that the number for the left pulse signal that controller receives be n, unit time t,
It then can be with the movement velocity of revolver in the unit of account time are as follows:The calculation of the movement velocity of right wheel is similar.
S2103, the movement velocity deviation that the speed difference of the revolver and right wheel is determined as to the revolver and right wheel.
After calculating the movement velocity of revolver and the movement velocity of right wheel, the speed that can calculate revolver and right wheel is inclined
Difference, i.e. movement velocity deviation.
Yaw rate on S220, the acquisition target device in the gyroscope current one time.
S230, according to the movement velocity deviation, the yaw rate and the velocity compensation formula of setting, determine speed
Offset.
Specifically, velocity compensation formula, indicates are as follows:
Bias=k1*z3+ (1-k1) * z4
Wherein, bias indicates the velocity compensated value in the current one time, and k1 is weight coefficient, and z3 is the current one time
The movement velocity deviation of the interior revolver and right wheel, z4 are the yaw rate of the gyroscope in the current one time.It is practical
In, 0≤k1≤1, and adjusting according to descending sequence, i.e., the initial value of k1 is 1, with the movement of robot,
It is possible that the state skidded, the value of k1 is gradually reduced at this time, i.e., the weight of movement velocity deviation reduces, yaw rate
Weight increases, and setting in this way can be such that encoder and gyroscope is complementary to one another, and learns from other's strong points to offset one's weaknesses, both can detecte out beating for robot
It is sliding, and can reduce the error of yaw rate, improve the accuracy of yaw rate.
It should be noted that robot is in the process of running, if revolver is faster than the speed of right wheel, robot is to the right, fortune
Dynamic velocity deviation z3 is negative, at this point, yaw rate z4 is also negative, velocity compensated value bias is also negative, whereas if right wheel ratio
Revolver speed block, robot is to the left, and movement velocity deviation z3 is positive, at this point, yaw rate z4 is also positive, velocity compensated value
Bias is also positive.
S240, according to the velocity compensated value, the actual speed and PID control of the revolver are public in a upper unit time
Formula determines actual speed of the revolver within the current one time.
PID control is mainly adjusted and controls to the deviation of velocity compensated value, to reduce error, and PID control
It is easy to operate.
Specifically, PID control formula, indicates are as follows:
v1=v0+kp(bias-Next_bias)+kibias+kd(bias-2Next_bias+Last_bias)
Wherein, v1Indicate the actual speed of the revolver in the current one time, v0Indicated the left side in a upper unit time
The actual speed of wheel, Next_bias indicated the velocity compensated value in a upper unit time, when Last_bias is a upper unit
Interior velocity compensated value, kpFor the proportionality coefficient of PID controller, kiFor the integral coefficient of PID controller, kdFor PID controller
Differential coefficient.
Specifically, if robot to right avertence, shows that the speed of revolver is fast, the reality of revolver in the calculated current one time
Border speed v1It should reduce, right wheel speed is constant at this time, calculated to work as if robot to left avertence, shows that the speed of revolver is slow
The actual speed v of revolver in the preceding unit time1It should increase, to guarantee robot ambulation point-blank.It is understood that
Easy to operate although PID control is simple, the value of the proportionality coefficient of PID control, integral coefficient and differential coefficient is not
It is fixed, but needs to adjust according to the actual situation, that is, needs to adjust pid parameter.
The adjusting of pid parameter usually first determines proportionality coefficient kp, by integral coefficient kiWith differential coefficient kdIt is first set as 0, than
Example coefficient kpSystem is increased up from 0 to vibrate, and then reduces proportionality coefficient kpUntil system nonoscillatory, is recorded at this time
Ratio value, then setting ratio coefficient kpFor the 60%-70% of current ratio value.Proportionality coefficient kpAfter determination, setting one is larger
Integration time constant TiInitial value, be then gradually reduced integration time constant TiValue, until system vibrates, Zhi Houzai
In turn, it is gradually increased integration time constant TiValue, until system oscillation disappear, record integration time constant T at this timeiIf
Definite integral time constant is the 150%~180% of current value, then according to proportionality coefficient kp, integration time constant TiAnd integral
Coefficient kiRelationship, determine integral coefficient ki, wherein proportionality coefficient kp, integration time constant TiAnd integral coefficient kiRelationship
Are as follows: ki=kp/Ti.Differential coefficient kdDetermination process it is similar, in practical application, usually be arranged differential coefficient kd=0.
Further, in order to reduce in robot operational process, yaw rate and movement velocity deviation it is accumulative partially
Difference improves the accuracy of PID control, guarantees that robot moves along a straight line, and implementation is also set, will be described with unit interval
Movement velocity deviation and yaw rate set 0, i.e., every the unit time, carry out to movement velocity deviation and yaw rate primary
It resets.
S250, the current motion state that the target device is controlled according to the actual speed.
Second embodiment of the present invention provides a kind of motion control methods, optimize on the basis of the above embodiments, according to
Movement velocity deviation and yaw rate determine velocity compensated value, and according in the current one time velocity compensated value, upper one
Velocity compensated value in unit time and the velocity compensated value in a upper unit time determine the actual speed of revolver, with root
According to the motion state of actual speed control target device, to guarantee that target device can also keep straight line to transport under slipping state
It is dynamic.
Embodiment three
Fig. 3 is a kind of structure chart for motion control device that the embodiment of the present invention three provides, which can execute above-mentioned
Motion control method described in embodiment, with reference to Fig. 3, which includes:
First determining module 310, for determine target device movement when within the current one time revolver and right wheel fortune
Dynamic velocity deviation；
Module 320 is obtained, for obtaining the yaw rate on the target device in the gyroscope current one time；
Second determining module 330, for determining the revolver according to the movement velocity deviation and the yaw rate
Actual speed within the current one time；
Control module 340, for controlling the current motion state of the target device according to the actual speed.
The embodiment of the present invention three provides a kind of motion control device, when by determining target device movement in current one
The movement velocity deviation of interior revolver and right wheel obtains the yaw angle speed on the target device in the gyroscope current one time
Degree, determines practical speed of the revolver within the current one time according to the movement velocity deviation and the yaw rate
Degree, the current motion state of the target device is controlled according to the actual speed, solves and simply uses in the prior art
In target device traveling process caused by left and right turns encoder or gyroscope, it cannot keep the problem of straight line is advanced, ensure that
Target device can still move along a straight line under slipping state, while reduce error.
On the basis of the above embodiments, the second determining module 330, comprising:
First determination unit, for the velocity compensation according to the movement velocity deviation, the yaw rate and setting
Formula determines velocity compensated value；
Second determination unit, for according to the velocity compensated value, in a upper unit time revolver actual speed
With PID control formula, the actual speed of the revolver in the current one time is determined.
On the basis of the above embodiments, the velocity compensation formula indicates are as follows:
Bias=k1*z3+ (1-k1) * z4
Wherein, bias indicates the velocity compensated value in the current one time, and k1 is weight coefficient, and z3 is the current one time
The movement velocity deviation of the interior revolver and right wheel, z4 are the yaw rate of the gyroscope in the current one time；
The PID control formula indicates are as follows:
v1=v0+kp(bias-Next_bias)+kibias+kd(bias-2Next_bias+Last_bias)
Wherein, v1Indicate the actual speed of the revolver in the current one time, v0Indicated the left side in a upper unit time
The actual speed of wheel, Next_bias indicated the velocity compensated value in a upper unit time, when Last_bias is a upper unit
Interior velocity compensated value, kpFor the proportionality coefficient of PID controller, kiFor the integral coefficient of PID controller, kdFor PID controller
Differential coefficient.
On the basis of the above embodiments, the device further include:
0 module is set, for the movement velocity deviation and yaw rate to be set 0 with unit interval.
On the basis of the above embodiments, the first determining module 310, comprising:
Acquisition unit, for acquiring in the current one time in target device movement, revolver is compiled on the target device
The code left pulse signal of device and the right pulse signal of right wheel encoder；
Computing unit, for calculating separately the revolver and right wheel existing according to the left pulse signal and right pulse signal
Movement velocity in the current one time；
Determination unit, for the speed difference of the revolver and right wheel to be determined as to the movement velocity of the revolver and right wheel
Deviation.
The motion control device and motion control method provided by the above embodiment that the embodiment of the present invention three provides belong to together
One inventive concept, the technical detail of detailed description not can be found in above-described embodiment in the present embodiment, and the present embodiment has
Execute the identical beneficial effect of motion control method.
Example IV
Fig. 4 is a kind of structure chart for robot that the embodiment of the present invention four provides, specifically, with reference to Fig. 4, the robot packet
It includes: motor 410, gyroscope 420, revolver 430, right wheel 440, revolver encoder 470, right wheel encoder 480,450 and of controller
Memory 460, the quantity of controller 450 can be one or more in robot, and Fig. 4 is by taking a controller 450 as an example, machine
Motor 410, gyroscope 420, revolver 430, right wheel 440, revolver encoder 470, right wheel encoder 480, controller 450 in people
It can be connected by bus or other modes with memory 460, Fig. 4 by bus for being connected.
Specifically, motor 410 is used to drive robot motion according to the control instruction of controller 450, wherein control instruction
For the instruction that controller 450 is generated according to the action order received, yaw angle speed of the gyroscope 420 for robot measurement
Degree, revolver 430 and right wheel 440 promote robot motion by rotation, and revolver encoder 470 is used for the rotation according to revolver 430
Corresponding left pulse signal is generated, and left pulse signal is sent to controller 450, right wheel encoder 480 is used for according to right wheel
440 rotation generates corresponding right pulse signal, and right pulse signal is sent to controller 450.
Memory 460 is used as a kind of storage medium, can be used for storing software program, computer executable program and mould
Block, such as the corresponding program instruction/module of motion control method in the embodiment of the present invention.Controller 450 is stored in by operation
Software program, instruction and module in reservoir 460, thereby executing the various function application and data processing of robot, i.e.,
Realize the motion control method of above-described embodiment, optionally, controller 450 can be single-chip microcontroller, such as STM32F103 model
Single-chip microcontroller.
Memory 460 mainly includes storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 460 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 460 can be into one
Step includes the memory remotely located relative to controller 450, these remote memories can pass through network connection to robot.
The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
The robot and motion control method provided by the above embodiment that the embodiment of the present invention four provides belong to same invention
Design, the technical detail of detailed description not can be found in above-described embodiment in the present embodiment, and the present embodiment has and executes fortune
The identical beneficial effect of flowing control method.
Embodiment five
The embodiment of the present invention five also provides a kind of storage medium, is stored thereon with computer program, and the program is by controller
The motion control method as described in any embodiment of that present invention may be implemented when execution.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The operation in motion control method that executable instruction is not limited to the described above, can also be performed any embodiment of that present invention and is mentioned
Relevant operation in the motion control method of confession, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes fortune described in each embodiment of the present invention
Flowing control method.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of motion control method characterized by comprising
Determine the movement velocity deviation of revolver and right wheel within the current one time when target device moves；
Obtain the yaw rate on the target device in the gyroscope current one time；
Practical speed of the revolver within the current one time is determined according to the movement velocity deviation and the yaw rate
Degree；
The current motion state of the target device is controlled according to the actual speed.
2. the method according to claim 1, wherein described according to the movement velocity deviation and the yaw angle
Speed determines actual speed of the revolver within the current one time, comprising:
According to the movement velocity deviation, the yaw rate and the velocity compensation formula of setting, velocity compensated value is determined；
According to the velocity compensated value, in a upper unit time revolver actual speed and PID control formula, determine described in
Actual speed of the revolver within the current one time.
3. according to the method described in claim 2, it is characterized in that, the velocity compensation formula, indicates are as follows:
Bias=k1*z3+ (1-k1) * z4
Wherein, bias indicates the velocity compensated value in the current one time, and k1 is weight coefficient, and z3 is institute in the current one time
The movement velocity deviation of revolver and right wheel is stated, z4 is the yaw rate of the gyroscope in the current one time；
The PID control formula indicates are as follows:
v1=v0+kp(bias-Next_bias)+kibias+kd(bias-2Next_bias+Last_bias)
Wherein, v1Indicate the actual speed of the revolver in the current one time, v0Indicated the revolver in a upper unit time
Actual speed, Next_bias indicated the velocity compensated value in a upper unit time, and Last_bias was in a upper unit time
Velocity compensated value, kpFor the proportionality coefficient of PID controller, kiFor the integral coefficient of PID controller, kdFor the micro- of PID controller
Divide coefficient.
4. the method according to claim 1, wherein further include:
The movement velocity deviation and yaw rate are set 0 with unit interval.
5. the method according to claim 1, wherein in the current one time when the determining target device moves
The movement velocity deviation of interior revolver and right wheel, comprising:
In target device movement, acquire in the current one time on the target device the left pulse signal of revolver encoder and
The right pulse signal of right wheel encoder；
According to the left pulse signal and right pulse signal, the fortune of the revolver and right wheel within the current one time is calculated separately
Dynamic speed；
The speed difference of the revolver and right wheel is determined as to the movement velocity deviation of the revolver and right wheel.
6. a kind of motion control device characterized by comprising
First determining module, the movement velocity of revolver and right wheel is inclined within the current one time when for determining target device movement
Difference；
Module is obtained, for obtaining the yaw rate on the target device in the gyroscope current one time；
Second determining module, for determining the revolver current single according to the movement velocity deviation and the yaw rate
Actual speed in the time of position；
Control module, for controlling the current motion state of the target device according to the actual speed.
7. device according to claim 6, which is characterized in that second determining module, comprising:
First determination unit, for according to the movement velocity deviation, the yaw rate and the velocity compensation formula of setting,
Determine velocity compensated value；
Second determination unit, for according to the velocity compensated value, in a upper unit time revolver actual speed and PID
Formula is controlled, determines the actual speed of the revolver in the current one time.
8. device according to claim 7, which is characterized in that the velocity compensation formula indicates are as follows:
Bias=k1*z3+ (1-k1) * z4
Wherein, bias indicates the velocity compensated value in the current one time, and k1 is weight coefficient, and z3 is institute in the current one time
The movement velocity deviation of revolver and right wheel is stated, z4 is the yaw rate of the gyroscope in the current one time；
The PID control formula indicates are as follows:
v1=v0+kp(bias-Next_bias)+kibias+kd(bias-2Next_bias+Last_bias)
Wherein, v1Indicate the actual speed of the revolver in the current one time, v0Indicated the revolver in a upper unit time
Actual speed, Next_bias indicated the velocity compensated value in a upper unit time, and Last_bias was in a upper unit time
Velocity compensated value, kpFor the proportionality coefficient of PID controller, kiFor the integral coefficient of PID controller, kdFor the micro- of PID controller
Divide coefficient.
9. a kind of robot, comprising: motor, gyroscope, revolver, right wheel, revolver encoder and right wheel encoder, feature exist
In, further includes:
One or more controllers；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of controllers, so that one or more of controllers are real
Existing motion control method according to any one of claims 1 to 5.
10. a kind of storage medium, is stored thereon with computer program, which is characterized in that the realization when program is executed by a controller
Motion control method according to any one of claims 1 to 5.
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